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<div class="title">tsdf_volume.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef TSDF_VOLUME_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define TSDF_VOLUME_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;tsdf_volume.h&quot;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#aeb47daa8c7fad453a3e79845bfa8eed7">   46</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#aeb47daa8c7fad453a3e79845bfa8eed7">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::load</a> (<span class="keyword">const</span> std::string &amp;filename, <span class="keywordtype">bool</span> binary)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  pcl::console::print_info (<span class="stringliteral">&quot;Loading TSDF volume from &quot;</span>); pcl::console::print_value (<span class="stringliteral">&quot;%s ... &quot;</span>, filename.c_str());</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  std::cout &lt;&lt; std::flush;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  std::ifstream file (filename.c_str());</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (file.is_open())</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="comment">// read HEADER</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      file.read ((<span class="keywordtype">char</span>*) &amp;header_, <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_t_s_d_f_volume_1_1_header.html">Header</a>));</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="comment">/* file.read (&amp;header_.resolution, sizeof(Eigen::Array3i));</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">      file.read (&amp;header_.volume_size, sizeof(Eigen::Vector3f));</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">      file.read (&amp;header_.volume_element_size, sizeof(int));</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">      file.read (&amp;header_.weights_element_size, sizeof(int)); */</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="comment">// check if element size fits to data</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordflow">if</span> (header_.volume_element_size != <span class="keyword">sizeof</span>(VoxelT))</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        pcl::console::print_error (<span class="stringliteral">&quot;[TSDFVolume::load] Error: Given volume element size (%d) doesn&#39;t fit data (%d)&quot;</span>, <span class="keyword">sizeof</span>(VoxelT), header_.volume_element_size);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordflow">if</span> ( header_.weights_element_size != <span class="keyword">sizeof</span>(WeightT))</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        pcl::console::print_error (<span class="stringliteral">&quot;[TSDFVolume::load] Error: Given weights element size (%d) doesn&#39;t fit data (%d)&quot;</span>, <span class="keyword">sizeof</span>(WeightT), header_.weights_element_size);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="comment">// read DATA</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordtype">int</span> num_elements = header_.getVolumeSize();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      volume_-&gt;resize (num_elements);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      weights_-&gt;resize (num_elements);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      file.read ((<span class="keywordtype">char</span>*) &amp;(*volume_)[0], num_elements * <span class="keyword">sizeof</span>(VoxelT));</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      file.read ((<span class="keywordtype">char</span>*) &amp;(*weights_)[0], num_elements * <span class="keyword">sizeof</span>(WeightT));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      pcl::console::print_error (<span class="stringliteral">&quot;[TSDFVolume::load] Error: ASCII loading not implemented.\n&quot;</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    file.close ();</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    pcl::console::print_error (<span class="stringliteral">&quot;[TSDFVolume::load] Error: Cloudn&#39;t read file %s.\n&quot;</span>, filename.c_str());</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">const</span> Eigen::Vector3i &amp;res = this-&gt;gridResolution();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  pcl::console::print_info (<span class="stringliteral">&quot;done [%d voxels, res %dx%dx%d]\n&quot;</span>, this-&gt;size(), res[0], res[1], res[2]);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#ab6f8ccba041577663f4ddae013777d4b">  104</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#ab6f8ccba041577663f4ddae013777d4b">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::save</a> (<span class="keyword">const</span> std::string &amp;filename, <span class="keywordtype">bool</span> binary)<span class="keyword"> const</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  pcl::console::print_info (<span class="stringliteral">&quot;Saving TSDF volume to &quot;</span>); pcl::console::print_value (<span class="stringliteral">&quot;%s ... &quot;</span>, filename.c_str());</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::cout &lt;&lt; std::flush;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  std::ofstream file (filename.c_str(), binary ? std::ios_base::binary : std::ios_base::out);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (file.is_open())</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="comment">// HEADER</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="comment">// write resolution and size of volume</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      file.write ((<span class="keywordtype">char</span>*) &amp;header_, <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_t_s_d_f_volume_1_1_header.html">Header</a>));</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">/* file.write ((char*) &amp;header_.resolution, sizeof(Eigen::Vector3i));</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">      file.write ((char*) &amp;header_.volume_size, sizeof(Eigen::Vector3f));</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">      // write  element size</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">      int volume_element_size = sizeof(VolumeT);</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">      file.write ((char*) &amp;volume_element_size, sizeof(int));</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">      int weights_element_size = sizeof(WeightT);</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">      file.write ((char*) &amp;weights_element_size, sizeof(int)); */</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="comment">// DATA</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="comment">// write data</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      file.write ((<span class="keywordtype">char</span>*) &amp;(volume_-&gt;at(0)), volume_-&gt;size()*<span class="keyword">sizeof</span>(VoxelT));</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      file.write ((<span class="keywordtype">char</span>*) &amp;(weights_-&gt;at(0)), weights_-&gt;size()*<span class="keyword">sizeof</span>(WeightT));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="comment">// write resolution and size of volume and element size</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      file &lt;&lt; header_.resolution(0) &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; header_.resolution(1) &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; header_.resolution(2) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      file &lt;&lt; header_.volume_size(0) &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; header_.volume_size(1) &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; header_.volume_size(2) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      file &lt;&lt; <span class="keyword">sizeof</span> (VoxelT) &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <span class="keyword">sizeof</span>(WeightT) &lt;&lt; std::endl;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="comment">// write data</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::vector&lt;VoxelT&gt;::const_iterator iter = volume_-&gt;begin(); iter != volume_-&gt;end(); ++iter)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        file &lt;&lt; *iter &lt;&lt; std::endl;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    file.close();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    pcl::console::print_error (<span class="stringliteral">&quot;[saveTsdfVolume] Error: Couldn&#39;t open file %s.\n&quot;</span>, filename.c_str());</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  pcl::console::print_info (<span class="stringliteral">&quot;done [%d voxels]\n&quot;</span>, this-&gt;size());</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#a9e3587ac6896e80dd50d66d8ebb42b74">  158</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#a9e3587ac6896e80dd50d66d8ebb42b74">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::convertToTsdfCloud</a> (pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;cloud)<span class="keyword"> const</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordtype">int</span> sx = header_.resolution(0);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordtype">int</span> sy = header_.resolution(1);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordtype">int</span> sz = header_.resolution(2);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> step = 2;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> cloud_size = header_.getVolumeSize() / (step*step*step);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a>();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  cloud-&gt;reserve (std::min (cloud_size/10, 500000));</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordtype">int</span> volume_idx = 0, cloud_idx = 0;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">//#pragma omp parallel for // if used, increment over idx not possible! use index calculation</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = 0; z &lt; sz; z+=step)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; sy; y+=step)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; sx; x+=step, ++cloud_idx)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        volume_idx = sx*sy*z + sx*y + x;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="comment">// pcl::PointXYZI &amp;point = cloud-&gt;points[cloud_idx];</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">if</span> (weights_-&gt;at(volume_idx) == 0 || volume_-&gt;at(volume_idx) &gt; 0.98 )</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a> point;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        point.x = x; point.y = y; point.z = z;<span class="comment">//*64;</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        point.intensity = volume_-&gt;at(volume_idx);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (point);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// cloud-&gt;width = cloud_size;</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="comment">// cloud-&gt;height = 1;</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#adfc8edbbdb7955be77741138f6aa523c">  194</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#adfc8edbbdb7955be77741138f6aa523c">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::getVoxelCoord</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, Eigen::Vector3i &amp;coord)<span class="keyword"> const</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">static</span> Eigen::Array3f voxel_size = voxelSize().array();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// point coordinates in world coordinate frame and voxel coordinates</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  Eigen::Array3f point_coord (point.x, point.y, point.z);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  Eigen::Array3f voxel_coord = (point_coord / voxel_size) - 0.5f; <span class="comment">// 0.5f offset due to voxel center vs grid</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  coord(0) = round(voxel_coord(0));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  coord(1) = round(voxel_coord(1));</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  coord(2) = round(voxel_coord(2));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#a2fc19b2142b5b09cf919b6716dface58">  209</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#a2fc19b2142b5b09cf919b6716dface58">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::getVoxelCoordAndOffset</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                                                                          Eigen::Vector3i &amp;coord, Eigen::Vector3f &amp;offset)<span class="keyword"> const</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keyword">static</span> Eigen::Array3f voxel_size = voxelSize().array();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">// point coordinates in world coordinate frame and voxel coordinates</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  Eigen::Array3f point_coord (point.x, point.y, point.z);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  Eigen::Array3f voxel_coord = (point_coord / voxel_size) - 0.5f; <span class="comment">// 0.5f offset due to voxel center vs grid</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  coord(0) = round(voxel_coord(0));</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  coord(1) = round(voxel_coord(1));</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  coord(2) = round(voxel_coord(2));</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="comment">// offset of point wrt. to voxel center</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  offset = (voxel_coord - coord.cast&lt;<span class="keywordtype">float</span>&gt;().array() * voxel_size).matrix();</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#a1722d6dd73c45d14a9edd961989de574">  227</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#a1722d6dd73c45d14a9edd961989de574">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::extractNeighborhood</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;voxel_coord, <span class="keywordtype">int</span> neighborhood_size,</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                                                                       VoxelTVec &amp;neighborhood)<span class="keyword"> const</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="comment">// point_index is at the center of a cube of scale_ x scale_ x scale_ voxels</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordtype">int</span> shift = (neighborhood_size - 1) / 2;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  Eigen::Vector3i min_index = voxel_coord.array() - shift;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  Eigen::Vector3i max_index = voxel_coord.array() + shift;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// check that index is within range</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (getLinearVoxelIndex(min_index) &lt; 0 || getLinearVoxelIndex(max_index) &gt;= (int)size())</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    pcl::console::print_info (<span class="stringliteral">&quot;[extractNeighborhood] Skipping voxel with coord (%d, %d, %d).\n&quot;</span>, voxel_coord(0), voxel_coord(1), voxel_coord(2));</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> descriptor_size = neighborhood_size*neighborhood_size*neighborhood_size;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  neighborhood.resize (descriptor_size);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keyword">const</span> Eigen::RowVector3i offset_vector (1, neighborhood_size, neighborhood_size*neighborhood_size);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="comment">// loop over all voxels in 3D neighborhood</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">  #pragma omp parallel for</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = min_index(2); z &lt;= max_index(2); ++z)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = min_index(1); y &lt;= max_index(1); ++y)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = min_index(0); x &lt;= max_index(0); ++x)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="comment">// linear voxel index in volume and index in descriptor vector</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        Eigen::Vector3i point (x,y,z);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordtype">int</span> volume_idx = getLinearVoxelIndex (point);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keywordtype">int</span> descr_idx  = offset_vector * (point - min_index);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment">/*        std::cout &lt;&lt; &quot;linear index &quot; &lt;&lt; volume_idx &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">        std::cout &lt;&lt; &quot;weight &quot; &lt;&lt; weights_-&gt;at (volume_idx) &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">        std::cout &lt;&lt; &quot;volume &quot; &lt;&lt; volume_-&gt;at (volume_idx) &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">        std::cout &lt;&lt; &quot;descr  &quot; &lt;&lt; neighborhood.rows() &lt;&lt; &quot;x&quot; &lt;&lt; neighborhood.cols() &lt;&lt; &quot;, val = &quot; &lt;&lt; neighborhood &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">        std::cout &lt;&lt; &quot;descr index = &quot; &lt;&lt; descr_idx &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="comment">// get the TSDF value and store as descriptor entry</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keywordflow">if</span> (weights_-&gt;at (volume_idx) != 0)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          neighborhood (descr_idx) = volume_-&gt;at (volume_idx);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          neighborhood (descr_idx) = -1.0; <span class="comment">// if never visited we assume inside of object (outside captured and thus filled with positive values)</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#a5afa4e1a60f62aab63dcd66fa44e2ae6">  280</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#a5afa4e1a60f62aab63dcd66fa44e2ae6">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::addNeighborhood</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;voxel_coord, <span class="keywordtype">int</span> neighborhood_size,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                                                                   <span class="keyword">const</span> VoxelTVec &amp;neighborhood, WeightT voxel_weight)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;{</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="comment">// point_index is at the center of a cube of scale_ x scale_ x scale_ voxels</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordtype">int</span> shift = (neighborhood_size - 1) / 2;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  Eigen::Vector3i min_index = voxel_coord.array() - shift;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  Eigen::Vector3i max_index = voxel_coord.array() + shift;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="comment">// check that index is within range</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">if</span> (getLinearVoxelIndex(min_index) &lt; 0 || getLinearVoxelIndex(max_index) &gt;= (int)size())</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    pcl::console::print_info (<span class="stringliteral">&quot;[addNeighborhood] Skipping voxel with coord (%d, %d, %d).\n&quot;</span>, voxel_coord(0), voxel_coord(1), voxel_coord(2));</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="comment">// static const int descriptor_size = neighborhood_size*neighborhood_size*neighborhood_size;</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keyword">const</span> Eigen::RowVector3i offset_vector (1, neighborhood_size, neighborhood_size*neighborhood_size);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  Eigen::Vector3i index = min_index;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">// loop over all voxels in 3D neighborhood</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="preprocessor">  #pragma omp parallel for</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = min_index(2); z &lt;= max_index(2); ++z)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = min_index(1); y &lt;= max_index(1); ++y)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = min_index(0); x &lt;= max_index(0); ++x)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// linear voxel index in volume and index in descriptor vector</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        Eigen::Vector3i point (x,y,z);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordtype">int</span> volume_idx = getLinearVoxelIndex (point);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="keywordtype">int</span> descr_idx  = offset_vector * (point - min_index);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="comment">// add the descriptor entry to the volume</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        VoxelT &amp;voxel = volume_-&gt;at (volume_idx);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        WeightT &amp;weight = weights_-&gt;at (volume_idx);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        <span class="comment">// TODO check that this simple lock works correctly!!</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="preprocessor">        #pragma omp atomic</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        voxel += neighborhood (descr_idx);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">        #pragma omp atomic</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        weight += voxel_weight;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      }</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;}</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelT, <span class="keyword">typename</span> WeightT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_t_s_d_f_volume.html#ad7d2607c0d7a0707229f50f3a086b3ff">  331</a></span>&#160;<a class="code" href="classpcl_1_1_t_s_d_f_volume.html#ad7d2607c0d7a0707229f50f3a086b3ff">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::averageValues</a> ()</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;{</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="preprocessor">  #pragma omp parallel for</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; volume_-&gt;size(); ++i)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    WeightT &amp;w = weights_-&gt;at(i);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keywordflow">if</span> (w &gt; 0.0)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      volume_-&gt;at(i) /= w;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      w = 1.0;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  }</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;}</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="comment">/*template &lt;typename VoxelT, typename WeightT&gt; template &lt;typename PointT&gt; void</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="comment">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::createFromCloud (const typename pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud, const Intr &amp;intr)</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="comment">{</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="comment">  // get depth map from cloud</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="comment">  float bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="comment">  // Eigen::MatrixXf depth = Eigen::MatrixXf::Constant(cloud_-&gt;height, cloud_-&gt;width, bad_point);</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="comment">  Eigen::MatrixXf depth (cloud-&gt;height, cloud-&gt;width);</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="comment">  // determine max and min value</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="comment">  float min = 3000.0, max = 0.0;</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="comment">  for (int x = 0; x &lt; cloud-&gt;width; ++x)</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="comment">    for (int y = 0; y &lt; cloud-&gt;height; ++y)</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="comment">      depth(y,x) = cloud-&gt;at(x,y).z;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="comment">      if (!isnan(depth(y,x)))</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="comment">        if (depth(y,x) &gt; max) max = depth(y,x);</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="comment">        if (depth(y,x) &lt; min) min = depth(y,x);</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="comment">      }</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">  std::cout &lt;&lt; &quot;  depth size = &quot; &lt;&lt; depth.rows() &lt;&lt; &quot;x&quot; &lt;&lt; depth.cols() &lt;&lt; &quot;, min/max = &quot; &lt;&lt; min &lt;&lt; &quot;/&quot; &lt;&lt; max &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="comment">  // BOOST_FOREACH (const PointT &amp;p, cloud-&gt;points)</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="comment">  typename pcl::PointCloud&lt;PointT&gt;::const_iterator iter = cloud-&gt;begin();</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="comment">  for (; iter != cloud_&gt;end(); ++iter)</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">    const PointT &amp;p = *iter;</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;orig point = &quot; &lt;&lt; p &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="comment">    Eigen::Array2f point (intr.fx * p.x + intr.cx * p.z,</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="comment">                          intr.fx * p.y + intr.cy * p.z);</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="comment">    Eigen::Array2i pixel (round(point(0))/p.z, round(point(1))/p.z);</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;point = &quot; &lt;&lt; point.transpose() &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;pixel = &quot; &lt;&lt; pixel.transpose() &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="comment">    depth (pixel(1), pixel(0)) = p.z;</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;<span class="comment">  std::cout &lt;&lt; &quot;  scaling depth map&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;<span class="comment">  // scale depth map</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="comment">  Eigen::MatrixXf depth_scaled;</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="comment">  // scaleDepth (depth, depth_scaled, intr);</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="comment">  // TODO find out what this should do! projection on unit sphere?!</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="comment">  depth_scaled = depth;</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="comment">  // generate volume</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="comment">  // std::cout &lt;&lt; &quot; generating volume&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="comment">  // resizeDefaultSize();</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="comment">  Eigen::Vector3f volume_size = volumeSize();</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;<span class="comment">  Eigen::Vector3f voxel_size = voxelSize();</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="comment">  float tranc_dist = std::max (DEFAULT_TRANCATION_DISTANCE, 2.1f * voxel_size.maxCoeff());</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="comment">  Eigen::Matrix3f R_inv_init = Eigen::Matrix3f::Identity();</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="comment">  Eigen::Vector3f t_init =  volume_size * 0.5f - Eigen::Vector3f (0, 0, volume_size(2)/2.0f * 1.2f);</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="comment">  // std::cout &lt;&lt; &quot;initial pose: R_inv = &quot; &lt;&lt; R_inv_init &lt;&lt; &quot;, t_init = &quot; &lt;&lt; t_init.transpose() &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;<span class="comment">  std::cout &lt;&lt; &quot;  integrating values&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="comment">  integrateVolume (depth_scaled, tranc_dist, R_inv_init, t_init, intr);</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="comment">}*/</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="comment">/*template &lt;typename VoxelT, typename WeightT&gt; void</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="comment">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::scaleDepth (const Eigen::MatrixXf &amp;depth, Eigen::MatrixXf &amp;depth_scaled, const Intr &amp;intr) const</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="comment">{</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="comment">  // function ported from KinFu GPU code</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="comment">  depth_scaled.resizeLike (depth);</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="comment">  float min = 3000.0, max = 0.0;</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="comment">  // loop over depth image</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="comment">  for (int x = 0; x &lt; depth.cols(); ++x)</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">    for (int y = 0; y &lt; depth.rows(); ++y)</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="comment">      int Dp = depth(y,x);</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="comment">      float xl = (x - intr.cx) / intr.fx;</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="comment">      float yl = (y - intr.cy) / intr.fy;</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="comment">      float lambda = sqrtf (xl * xl + yl * yl + 1);</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="comment">      depth_scaled(y,x) = Dp * lambda;</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="comment">      if (!isnan(depth_scaled(y,x)))</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="comment">        if (depth_scaled(y,x) &gt; max) max = depth_scaled(y,x);</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="comment">        if (depth_scaled(y,x) &lt; min) min = depth_scaled(y,x);</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="comment">      }</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="comment">  std::cout &lt;&lt; &quot;depth_scaled size = &quot; &lt;&lt; depth_scaled.rows() &lt;&lt; &quot;x&quot; &lt;&lt; depth_scaled.cols() &lt;&lt; &quot;, min/max = &quot; &lt;&lt; min &lt;&lt; &quot;/&quot; &lt;&lt; max &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;<span class="comment">}*/</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="comment">/*template &lt;typename VoxelT, typename WeightT&gt; void</span></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="comment">pcl::TSDFVolume&lt;VoxelT, WeightT&gt;::integrateVolume (const Eigen::MatrixXf &amp;depth_scaled,</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="comment">                                              float tranc_dist,</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="comment">                                              const Eigen::Matrix3f &amp;R_inv,</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="comment">                                              const Eigen::Vector3f &amp;t,</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;<span class="comment">                                              const Intr &amp;intr)</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="comment">{</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="comment">  Eigen::Array3f voxel_size = voxelSize();</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;<span class="comment">  Eigen::Array3i volume_res = gridResolution();</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;<span class="comment">  Eigen::Array3f intr_arr (intr.fx, intr.fy, 1.0f);</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="comment">  Eigen::Array3i voxel_coord (0,0,0);</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;<span class="comment">  // loop over grid in X and Y dimension</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="comment">  #pragma omp parallel for</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="comment">  // for (voxel_coord(0) = 0; voxel_coord(0) &lt; volume_res(0); ++voxel_coord(0))</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="comment">  for (int i = 0; i &lt; volume_res(0); ++i)</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="comment">    voxel_coord(0) = i;</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="comment">    // std::stringstream ss;</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="comment">    // ss &lt;&lt; voxel_coord(0) &lt;&lt; &quot;/&quot; &lt;&lt; volume_res(0) &lt;&lt; &quot; &quot;;</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">    // std::cout &lt;&lt; ss.str();</span></div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">    std::cout &lt;&lt; &quot;. &quot; &lt;&lt; std::flush;</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment">    for (voxel_coord(1) = 0; voxel_coord(1) &lt; volume_res(1); ++voxel_coord(1))</span></div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">      voxel_coord(2) = 0;</span></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;<span class="comment">      // points at depth 0, shifted by t</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="comment">      Eigen::Vector3f v_g = (voxel_coord.cast&lt;float&gt;() + 0.5f) * voxel_size - t.array();</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;<span class="comment">      float v_g_part_norm = v_g(0)*v_g(0) + v_g(1)*v_g(1);</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;<span class="comment">      // rays in 3d</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="comment">      Eigen::Vector3f v = (R_inv * v_g).array() * intr_arr;</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;<span class="comment">      float z_scaled = 0;</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="comment">      Eigen::Array3f R_inv_z_scaled = R_inv.col(2).array() * voxel_size(2) * intr_arr;</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="comment">      float tranc_dist_inv = 1.0f / tranc_dist;</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="comment">      // loop over depth values</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="comment">      for (voxel_coord(2) = 0; voxel_coord(2) &lt; volume_res(2); ++voxel_coord(2),</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="comment">           v_g(2) += voxel_size(2),</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;<span class="comment">           z_scaled += voxel_size(2),</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="comment">           v(0) += R_inv_z_scaled(0),</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment">           v(1) += R_inv_z_scaled(1))</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="comment">        float inv_z = 1.0f / (v(2) + R_inv(2,2) * z_scaled);</span></div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="comment">        // std::cout &lt;&lt; &quot;z = &quot; &lt;&lt; voxel_coord(2) &lt;&lt; &quot;, inv_z = &quot; &lt;&lt; inv_z &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="comment">        if (inv_z &lt; 0)</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="comment">          continue;</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;<span class="comment">        // project to camera</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="comment">        Eigen::Array2i img_coord (round(v(0) * inv_z + intr.cx),</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">                                  round(v(1) * inv_z + intr.cy));</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="comment">        // std::cout &lt;&lt; &quot;img_coord = &quot; &lt;&lt; img_coord.transpose() &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="comment">        if (img_coord(0) &gt;= 0 &amp;&amp; img_coord(1) &gt;= 0 &amp;&amp; img_coord(0) &lt; depth_scaled.cols() &amp;&amp; img_coord(1) &lt; depth_scaled.rows())         //6</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;<span class="comment">          float Dp_scaled = depth_scaled(img_coord(1), img_coord(0));</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="comment">          // signed distance function</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="comment">          float sdf = Dp_scaled - sqrtf (v_g(2) * v_g(2) + v_g_part_norm);</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="comment">          if (Dp_scaled != 0 &amp;&amp; sdf &gt;= -tranc_dist)</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="comment">          {</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="comment">            // get truncated distance function value</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="comment">            float tsdf = fmin (1.0f, sdf * tranc_dist_inv);</span></div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;<span class="comment">            // add values to volume</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="comment">            int idx = getLinearVoxelIndex (voxel_coord);</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="comment">            VoxelT &amp;tsdf_val = volume_-&gt;at(idx);</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="comment">            short  &amp;weight   = weights_-&gt;at(idx);</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="comment">            tsdf_val = tsdf_val * weight + tsdf;</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;<span class="comment">            weight += 1;</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="comment">          }</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="comment">        }</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;<span class="comment">      } // loop over depths</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="comment">  std::cout &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="comment">}*/</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_TSDFVolume(VT,WT) template class PCL_EXPORTS pcl::reconstruction::TSDFVolume&lt;VT,WT&gt;;</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* TSDF_VOLUME_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_a1722d6dd73c45d14a9edd961989de574"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#a1722d6dd73c45d14a9edd961989de574">pcl::TSDFVolume::extractNeighborhood</a></div><div class="ttdeci">bool extractNeighborhood(const Eigen::Vector3i &amp;voxel_coord, int neighborhood_size, VoxelTVec &amp;neighborhood) const</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:227</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_a2fc19b2142b5b09cf919b6716dface58"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#a2fc19b2142b5b09cf919b6716dface58">pcl::TSDFVolume::getVoxelCoordAndOffset</a></div><div class="ttdeci">void getVoxelCoordAndOffset(const PointT &amp;point, Eigen::Vector3i &amp;voxel_coord, Eigen::Vector3f &amp;offset) const</div><div class="ttdoc">Retunrs the 3D voxel coordinate and point offset wrt. to the voxel center (in mm)</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:209</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_a5afa4e1a60f62aab63dcd66fa44e2ae6"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#a5afa4e1a60f62aab63dcd66fa44e2ae6">pcl::TSDFVolume::addNeighborhood</a></div><div class="ttdeci">bool addNeighborhood(const Eigen::Vector3i &amp;voxel_coord, int neighborhood_size, const VoxelTVec &amp;neighborhood, WeightT voxel_weight)</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:280</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_a9e3587ac6896e80dd50d66d8ebb42b74"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#a9e3587ac6896e80dd50d66d8ebb42b74">pcl::TSDFVolume::convertToTsdfCloud</a></div><div class="ttdeci">void convertToTsdfCloud(pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud) const</div><div class="ttdoc">Converts volume to cloud of TSDF values</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:158</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_ab6f8ccba041577663f4ddae013777d4b"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#ab6f8ccba041577663f4ddae013777d4b">pcl::TSDFVolume::save</a></div><div class="ttdeci">bool save(const std::string &amp;filename=&quot;tsdf_volume.dat&quot;, bool binary=true) const</div><div class="ttdoc">Saves volume to file</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:104</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_ad7d2607c0d7a0707229f50f3a086b3ff"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#ad7d2607c0d7a0707229f50f3a086b3ff">pcl::TSDFVolume::averageValues</a></div><div class="ttdeci">void averageValues()</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:331</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_adfc8edbbdb7955be77741138f6aa523c"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#adfc8edbbdb7955be77741138f6aa523c">pcl::TSDFVolume::getVoxelCoord</a></div><div class="ttdeci">void getVoxelCoord(const PointT &amp;point, Eigen::Vector3i &amp;voxel_coord) const</div><div class="ttdoc">Converts the volume to a surface representation via a point cloud</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:194</div></div>
<div class="ttc" id="aclasspcl_1_1_t_s_d_f_volume_html_aeb47daa8c7fad453a3e79845bfa8eed7"><div class="ttname"><a href="classpcl_1_1_t_s_d_f_volume.html#aeb47daa8c7fad453a3e79845bfa8eed7">pcl::TSDFVolume::load</a></div><div class="ttdeci">bool load(const std::string &amp;filename, bool binary=true)</div><div class="ttdoc">Loads volume from file</div><div class="ttdef"><b>Definition:</b> tsdf_volume.hpp:46</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_t_s_d_f_volume_1_1_header_html"><div class="ttname"><a href="structpcl_1_1_t_s_d_f_volume_1_1_header.html">pcl::TSDFVolume::Header</a></div><div class="ttdoc">Structure storing voxel grid resolution, volume size (in mm) and element_size of stored data</div><div class="ttdef"><b>Definition:</b> tsdf_volume.h:70</div></div>
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